Motion planning for 4WS vehicle with autonomous selection of steering modes via an MIQP-MPC controller.
Ngoc Thinh NguyenPranav Tej GangavarapuNicolas MandelRalf BruderFloris ErnstPublished in: ICRA (2024)
Keyphrases
- motion planning
- path planning
- autonomous vehicles
- control law
- kinematic model
- degrees of freedom
- obstacle avoidance
- mobile robot
- robot arm
- closed loop
- ground vehicles
- trajectory planning
- robotic arm
- real time
- humanoid robot
- land vehicle
- control system
- robotic tasks
- dynamic model
- autonomous mobile robot
- multi robot
- inverse kinematics
- feedback control
- configuration space
- optimal control
- collision free
- adaptive control
- robotic systems
- autonomous navigation
- traffic light
- control method
- manipulation tasks
- control scheme
- mechanical systems
- dynamic environments
- motion control
- climbing robot
- linear quadratic
- control algorithm
- visual servoing
- nonlinear systems